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Userspace library implementation of DC functions.

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This commit is contained in:
Florian Pose
2009-04-23 14:45:07 +00:00
parent 4b4dc8a5b5
commit ddd707d8be
5 changed files with 286 additions and 27 deletions
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master/cdev.c
+165
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@@ -1621,6 +1621,49 @@ int ec_cdev_ioctl_master_state(
/*****************************************************************************/
/** Sync the reference clock.
*/
int ec_cdev_ioctl_sync_ref(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
ec_ioctl_dc_t data;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
return -EFAULT;
spin_lock_bh(&master->internal_lock);
ecrt_master_sync_reference_clock(master, &data.app_time);
spin_unlock_bh(&master->internal_lock);
return 0;
}
/*****************************************************************************/
/** Sync the slave clocks.
*/
int ec_cdev_ioctl_sync_slaves(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
if (unlikely(!priv->requested))
return -EPERM;
spin_lock_bh(&master->internal_lock);
ecrt_master_sync_slave_clocks(master);
spin_unlock_bh(&master->internal_lock);
return 0;
}
/*****************************************************************************/
/** Set the direction of a sync manager.
*/
int ec_cdev_ioctl_sc_sync(
@@ -1848,6 +1891,108 @@ int ec_cdev_ioctl_sc_reg_pdo_entry(
/*****************************************************************************/
/** Sets the DC AssignActivate word.
*/
int ec_cdev_ioctl_sc_dc_assign(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
ec_ioctl_sc_dc_t data;
ec_slave_config_t *sc;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
return -EFAULT;
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(sc = ec_master_get_config(master, data.config_index))) {
up(&master->master_sem);
return -ENOENT;
}
ecrt_slave_config_dc_assign_activate(sc, data.assign_activate);
up(&master->master_sem);
return 0;
}
/*****************************************************************************/
/** Sets the DC cycle times.
*/
int ec_cdev_ioctl_sc_dc_cycle(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
ec_ioctl_sc_dc_t data;
ec_slave_config_t *sc;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
return -EFAULT;
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(sc = ec_master_get_config(master, data.config_index))) {
up(&master->master_sem);
return -ENOENT;
}
ecrt_slave_config_dc_sync_cycle_times(sc, data.cycle[0], data.cycle[1]);
up(&master->master_sem);
return 0;
}
/*****************************************************************************/
/** Sets the DC shift times.
*/
int ec_cdev_ioctl_sc_dc_shift(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
ec_ioctl_sc_dc_t data;
ec_slave_config_t *sc;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
return -EFAULT;
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(sc = ec_master_get_config(master, data.config_index))) {
up(&master->master_sem);
return -ENOENT;
}
ecrt_slave_config_dc_sync_shift_times(sc, data.shift[0], data.shift[1]);
up(&master->master_sem);
return 0;
}
/*****************************************************************************/
/** Configures an SDO.
*/
int ec_cdev_ioctl_sc_sdo(
@@ -3035,6 +3180,14 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
return ec_cdev_ioctl_receive(master, arg, priv);
case EC_IOCTL_MASTER_STATE:
return ec_cdev_ioctl_master_state(master, arg, priv);
case EC_IOCTL_SYNC_REF:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sync_ref(master, arg, priv);
case EC_IOCTL_SYNC_SLAVES:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sync_slaves(master, arg, priv);
case EC_IOCTL_SC_SYNC:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
@@ -3059,6 +3212,18 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv);
case EC_IOCTL_SC_DC_ASSIGN:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_dc_assign(master, arg, priv);
case EC_IOCTL_SC_DC_CYCLE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_dc_cycle(master, arg, priv);
case EC_IOCTL_SC_DC_SHIFT:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_dc_shift(master, arg, priv);
case EC_IOCTL_SC_SDO:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;